Fuzzy balancing control of a small-size humanoid robot based on accelerometer

淡江大學機構典藏 > 工學院 > 電機工程學系暨研究所 > 期刊論文 > Item 987654321/75086

jsp.display-item.identifier=請使用永久網址來引用或連結此文件: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/75086

题名:	Fuzzy balancing control of a small-size humanoid robot based on accelerometer
作者:	Cheng, Chi-Tai;Chen, Hao-Che;Hu, Yue-Yang;Wong, Ching-Chang
贡献者:	淡江大學電機工程學系
关键词:	Humanoid robot;Autonomous robot;Balancing control;Fuzzy system;Accelerometer
日期:	2009-09
上传时间:	2012-03-12 16:37:36 (UTC+8)
出版者:	Taipei: Chinese Fuzzy Systems Association
摘要:	A fuzzy balancing control method is proposed and implemented on a small-size humanoid robot named TWNHR-IV in this paper. The robot TWNHR-IV is able to stand and balance on an inclined plane by the proposed method. A 3-axis accelerometer is mounted on the robot TWNHR-IV, which has 26 degrees-of-freedom (DOFs), for obtaining the 3-axis accelerations of TWNHR-IV. The proposed fuzzy method includes two two-input-and-one-output fuzzy systems, the forward-and-backward fuzzy system and the right-and-left fuzzy system. Based on the obtained information from the 3-axis accelerometer, the proposed method is able to modify the feet posture to balance TWNHR-IV. Some practical experiments with different inclining situations are presented to illustrate the efficiency of the proposed fuzzy balancing control method.
關聯:	International Journal of Fuzzy Systems 11(3), pp.146-153
显示于类别:	[電機工程學系暨研究所] 期刊論文

文件中的档案:

档案	描述	大小	格式	浏览次数
Fuzzy Balancing Control of a Small-size Humanoid Accelerometer Robot based on Accelerometer.pdf	論文pdf	573Kb	Adobe PDF	422	检视/开启

在機構典藏中所有的数据项都受到原著作权保护.

TAIR相关文章